41cc73e555
battery: simplify battery_initialized condition
2021-07-01 14:24:38 +02:00
a51d47f8e8
battery: connected check outside of determineWarning()
2021-07-01 14:24:38 +02:00
e45b862f1d
Specify orientaiton of ADIS16448 IMU from rc.sensors
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Specify orientaiton of ADIS16448 IMU for from the rc.sensors
WIP: Currently only handling one orientation
2021-06-30 09:34:12 -04:00
33bf4e0303
EKF: set uninitialized vel/pos/hgt test ratios to NAN
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- ensure valid min is numerically larger than 0 (float32)
2021-06-30 09:30:44 -04:00
d87cd171f4
sensors/vehicle_imu: continue integrating gyro if there's a gap in data
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- minor improvement that helps to determine the sensor publication rate
as soon as possible
2021-06-30 09:13:49 -04:00
7ddcb7fe3c
adis16470: disable debug
2021-06-30 01:01:07 -04:00
982692f5ed
ekf2: selector handle NAN test ratios as uninitilaized
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- requires https://github.com/PX4/PX4-ECL/pull/1020
2021-06-29 21:36:24 -04:00
f08a22934e
boards: px4_fmu-v4_test remove deleted drivers/tap_esc
2021-06-29 21:27:29 -04:00
f0d8d53da6
sensors/vehicle_imu: minor IMU integration improvements
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- IMU integrator set max dt based on final return size (uint16)
- improve integration consuming gyro as needed then integrate all available accel until caught up
- increase required number of samples for sensor rate measurement (online Welford mean)
2021-06-29 10:43:09 -04:00
3fcd323f6a
drivers/imu/invensense: store offset registers on configure, trigger reset on any change
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- this can catch subtle failures that occur after self hours of continuous operation on some units
2021-06-29 10:33:03 -04:00
9d3e18dbe1
ARK Flow rev 2 add icm42688p
2021-06-25 09:44:45 -04:00
a67e66000e
protocol_splitter: including magic number on XOR for checksum
2021-06-25 13:05:24 +02:00
4741ec25ce
microRTPS: increase base message ID space to 179
2021-06-25 13:05:24 +02:00
5ac5399d83
Remove horizontal slow down close to ground
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Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
2021-06-25 11:15:41 +02:00
055c9db178
state_machine_helper: allow takeoff and hold without any link
2021-06-25 10:46:43 +02:00
15096ead5f
state_machine_helper: explicitly notify about rca and data link loss
2021-06-25 10:46:43 +02:00
bec9eef5b0
state_machine_helper: react on link losses during takeoff
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The same way like in loiter. This should be further unified in the code
but at least we can increase safety in the case the takeoff altitude is
very high and the vehicle never reaches it but looses links.
2021-06-25 10:46:43 +02:00
11556d4e9a
Commander: allow disabling RC loss failsafe for mission, hold, offboard independently
2021-06-25 10:46:43 +02:00
933d31b476
commander_params: correct parameter group from Mission to Commander
2021-06-25 10:46:43 +02:00
6ee8f7be0f
Commander: switch to static_cast<> for set_nav_state parameters
2021-06-25 10:46:43 +02:00
d83033f449
Take the crypto_backend library into use in bootloader for signature verification
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
0d4f481035
Add simple SW implementations for crypto_backend and keystore_backend
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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
d068ae48d6
Add header file for arhitecture/implementation specific px4 crypto and
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configuration for cmake
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
b3e9904df0
Add monocypher crypto library in src/lib/crypto/monocypher
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This simple crypto library is used as an example default backend for the crypto
interfaces
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
09e62f96b2
Put all the test key material into same directory
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Move Tools/test_key.json and key0.pub into same directory.
key0.pub is just a hex-dump of the public key part from the test_key.json,
for easy inclusion into bootloader monocypher sw crypto
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
caed8e4b05
Fix cryptotools.py signature alignment
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If the signature start address is already aligned, the tool erroneously adds 4 filling bytes
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-25 08:35:58 +02:00
ab0e3b6001
icm20948_i2c_passthrough: allow to configure i2c address
2021-06-25 07:50:31 +02:00
d79229f958
mavlink_shell.py: allow scripted use
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E.g. echo free|./Tools/mavlink_shell.py
Or creating a virtual nsh console:
socat pty,rawer,link=/tmp/fmu_nsh_pts exec:"mavlink_shell.py 0.0.0.0\\:14550,pty,rawer"
2021-06-24 15:18:06 +02:00
aa60d76963
camera trigger: don't keep triggering while enabled but paused
2021-06-24 06:56:58 +02:00
6b356068cb
boards: mro_x21-777 board.h fix SPI 2 SCK pin
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- SPI 2 had the wrong SCK PIN -> PB10 instead of PB13 -> accidentally the kill pin
could be probably wrong on other mro boards
2021-06-23 15:00:20 -04:00
9cedb169fc
HTE: relax validity condition when already valid ( #17783 )
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The condition to get valid requires a low variance and test ratio. but
to stay valid, only the variance is required.
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-06-23 07:33:11 +02:00
74cc1d901d
Thoneflow - fix up links to docs
2021-06-22 13:43:53 -04:00
3beb5bcbe0
EKF: Fix momentum drag density altitude scaling and update comments
2021-06-22 18:50:56 +10:00
97b5ae1e96
EKF: Fix derivation comments for drag fusion
2021-06-22 18:50:56 +10:00
58d376e2be
EKF: prevent /0 and use pre-computed inverses
2021-06-22 18:50:56 +10:00
de8625d255
EKF: fix sign error in bluff body drag fusion
2021-06-22 18:50:56 +10:00
73d1e514d0
EKF: Extend drag fusion to include propeller momnetum drag
2021-06-22 18:50:56 +10:00
0dee7af81f
ekf2_params: enable baro ground effect compensation by default
2021-06-22 10:32:54 +02:00
91808f7c9e
Update EKF/common.h
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Set non-zero default value for airspeed threshold to enable it by default
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2021-06-22 18:30:47 +10:00
9c0a52d52a
delay time: potentially reduce delay time if baro/aux velocity/airspeed is not used
2021-06-22 18:30:47 +10:00
611ace0ed6
EV_yaw: reset ev_to_ekf to identity when yaw is reset to EV
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Otherwise, the old rotation matrix is used and not updated anymore
because the EKF is fusing EV yaw data.
2021-06-22 10:25:55 +02:00
804c3563fb
heading_fusion: fix yaw gyro bias oscillation on ground
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When the mag is pulled away before takeoff, the EKF can end up learning
a bad yaw gyro bias. This bad gyro bias makes the estimated heading spin
and even if the bias continues to be learned, it can end up being stuck
in limit cycle due to the innovation changing its sign every time the
heading estimate overshoots the measurement.
To prevent this, the Z gyro bias variance is reset when the mag heading
fusion test ratio fails on ground.
2021-06-22 16:45:26 +10:00
a264541861
explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs.
2021-06-21 22:39:54 +02:00
0c5f2d3b8c
microRTPS: add missing header for PRIu32 and PRIu16 macros
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Co-authored-by: squizz617 <seulbae@gatech.edu >
2021-06-21 16:36:44 +02:00
9fb53d4276
microRTPS: add option to build the microRTPS agent after its generation
2021-06-21 16:36:44 +02:00
084a992572
microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw
2021-06-21 16:36:44 +02:00
79f7986715
apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw
2021-06-21 16:36:44 +02:00
39909128ec
micrortps_client: increased stack size by 250B
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Co-authored-by: Nuno Marques <n.marques21@hotmail.com >
2021-06-21 16:36:44 +02:00
d3a23cee40
microRTPS: agent: fix double free memory problem on SIGINT
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It fixes also some minor issues when exiting the agent, including the printed stats
2021-06-21 16:36:44 +02:00
6d5f12d2a2
microRTPS: client: add TX rate limiter
2021-06-21 16:36:44 +02:00
Matthias Grob